公开(公告)号：WO2009043969A1

公开(公告)日：2009-04-09

申请号：PCT/FI2008/050541

申请日：2008-09-29

Applicant: SANDVIK MINING AND CONSTRUCTION OY ,  PUURA, Jussi

Inventor： PUURA, Jussi

IPC: G05B19/402 ,  G05B19/31 ,  G05B19/404 ,  B25J9/16 ,  B25J17/02 ,  B25J18/02

CPC classification number: B66C13/20 ,  B25J9/1653 ,  G05B13/024 ,  G05B2219/39206 ,  G05B2219/40124

Abstract: The invention relates to a method and apparatus as well as to a computer program for adjusting the operation of a hydraulically operated boom, the boom (1) comprising at least two mutually movably coupled boom parts (1a, 1 b), which are coupled to move with respect to one another by means of a hydraulic actuator (5a - 5b, 7a - 7b), control means (13, 14) for controlling the hydraulic actuators, a detector (15) for detecting the position between the boom parts (1a, 1 b), whereby for adjusting the operation of the boom (1) it is possible to configure a movement-specific adjustment parameter of the joint controller in the control means (13, 14) for each particular movement. In the invention the mutual movement of the boom parts (1a, 1b) is controlled with respect to a predetermined position, on both sides thereof, between the boom parts (1 a, 1 b), the actual position and motional speed values obtained from the detector (15) in response to the control signal are compared with the theoretical position and motional speed values, and the adjustment parameter of the joint controller is adjusted on the basis of the difference between the values.

Abstract translation: 本发明涉及一种方法和设备以及用于调节液压操作的起重臂的操作的计算机程序，所述起重臂（1）包括至少两个相互可移动地联接的悬臂部分（1a，1b），其联接到 通过液压致动器（5a-5b，7a-7b）相对于彼此移动，用于控制液压致动器的控制装置（13,14），用于检测悬臂部件（1a）之间的位置的检测器 1b），为了调节悬臂（1）的操作，可以针对每个特定的运动来构成控制装置（13,14）中的关节控制器的运动特定调整参数。 在本发明中，臂臂部分（1a，1b）的相互运动相对于其两侧在悬臂部分（1a，1b）之间的预定位置被控制，实际位置和运动速度值 响应于控制信号的检测器（15）与理论位置和运动速度值进行比较，并且基于值之间的差来调整联合控制器的调整参数。

公开(公告)号：WO2011104441A1

公开(公告)日：2011-09-01

申请号：PCT/FI2011/050166

申请日：2011-02-24

Applicant: SANDVIK MINING AND CONSTRUCTION OY ,  PUURA, Jussi

Inventor： PUURA, Jussi

IPC: E21B7/02 ,  E21B44/00 ,  E21D20/00 ,  G05G9/047 ,  G06F3/14

CPC classification number: E21D9/006 ,  E21B7/022

Abstract: The invention relates to a rock drilling rig, a method for rock drilling and a control system of a rock drilling rig. The rock drilling rig (1) comprises a drilling unit (6) for drilling drill holes (21) as a drill hole pattern. The location of the drilling unit is determined and the control unit (16) is arranged to control by means of a control member (19), on the basis of the given target position, actuators (19) influencing the position of the drilling unit. Each individual direction of motion of the control member is arranged to influence the target position in relation to only one coordinate or direction angle. Further, the directions of motion of the control member are arranged to be intuitive in relation to the directions of motion of the drilling unit.

Abstract translation: 本发明涉及一种岩石钻机，岩石钻井方法和岩石钻机的控制系统。 岩石钻机（1）包括用于钻钻孔（21）作为钻孔图案的钻孔单元（6）。 确定钻孔单元的位置，并且控制单元（16）被布置成基于给定的目标位置，通过控制构件（19）来控制影响钻井单元的位置的致动器（19）。 控制构件的每个单独的运动方向被布置成相对于仅一个坐标或方向角度影响目标位置。 此外，控制构件的运动方向被布置成相对于钻孔单元的运动方向是直观的。

公开(公告)号：WO2011104440A1

公开(公告)日：2011-09-01

申请号：PCT/FI2011/050165

申请日：2011-02-24

Applicant: SANDVIK MINING AND CONSTRUCTION OY ,  PUURA, Jussi

Inventor： PUURA, Jussi

IPC: E21B44/00 ,  E21B7/02 ,  E21D20/00 ,  G06F3/14

CPC classification number: E21B7/022 ,  E21D9/006

Abstract: The invention relates to a method of presenting positioning information on a drilling unit of a rock drilling rig when drilling drill holes as a fan-like pattern. Further, the invention relates to a user interface and a rock drilling rig. A display device (25) presents the location and direction of the drilling unit (6) relative to the hole information and the fan plane. The display device shows the operator a display image (30) having at least two partial views (31a, 31b) on the basis of which the operator obtains information on all degrees of freedom relating to the positioning simultaneously. The operator controls the positioning by means of a user interface (29) comprising a display device and at least one control member (15) which are connected to a control unit (16).

Abstract translation: 本发明涉及一种在将钻孔作为扇形图案进行钻孔时在岩石钻机的钻井单元上呈现定位信息的方法。 此外，本发明涉及用户界面和岩石钻机。 显示装置（25）相对于孔信息和风扇平面呈现钻井单元（6）的位置和方向。 显示装置向操作者显示具有至少两个部分视图（31a，31b）的显示图像（30），基于此，操作者同时获得与定位相关的所有自由度的信息。 操作者通过包括显示装置的用户界面（29）和连接到控制单元（16）的至少一个控制构件（15）来控制定位。

公开(公告)号：WO2009138558A1

公开(公告)日：2009-11-19

申请号：PCT/FI2009/050379

申请日：2009-05-11

Applicant: SANDVIK MINING AND CONSTRUCTION OY ,  PUURA, Jussi ,  SAARELA, Markus

Inventor： PUURA, Jussi ,  SAARELA, Markus

IPC: E21B7/02 ,  E21B44/00 ,  F15B13/044 ,  F15B19/00

CPC classification number: F15B19/002

Abstract: The invention relates to a method for determining the dead zone of a proportional control valve (8) used for controlling an actuator of a rock drilling device, the method comprising controlling the control valve (8) with an electric P controller (12) and measuring the position of the actuator in a coordinate system representing its movement with a separate position detector. The dead zone is determined by means of a product of the P controller of the control valve (8) and the difference value.

Abstract translation: 本发明涉及一种用于确定用于控制岩石钻井装置的致动器的比例控制阀（8）的死区的方法，所述方法包括用电气P控制器（12）控制所述控制阀（8）并测量 使用单独的位置检测器来表示其运动的坐标系中的致动器的位置。 死区由控制阀（8）的P控制器和差值确定。

公开(公告)号：WO2012072870A1

公开(公告)日：2012-06-07

申请号：PCT/FI2011/051011

申请日：2011-11-16

Applicant: SANDVIK MINING AND CONSTRUCTION OY ,  PUURA, Jussi

Inventor： PUURA, Jussi

IPC: E21B7/02 ,  E21B44/00

CPC classification number: E21B7/022

Abstract: When excavating a rock cavern one round at a time by a rock drilling rig (1) comprising at least one drilling boom (3) and at least one drilling unit (4) arranged in the drilling boom (3), holes (21) of a round are drilled in accordance with a drilling pattern (14) designed for the round. In order to drill each single hole (21), the drilling unit (4) is con¬ trolled into a rotating angle (Φ) which carries out a location (21') and direction determined for the particular hole (21) in the drilling pattern (14) designed for the particular round. The rotating angle (Φ) of the drilling unit (4) to be used for drilling the hole (21) is determined on the basis of the rotating angle (Φ) of the drilling unit (4) carried out in connection with the drilling of one or more previously drilled holes (21).

Abstract translation: 当由包括至少一个钻杆（3）和布置在钻杆（3）中的至少一个钻孔单元（4））的岩石钻机（1）一次挖掘岩洞时，孔（21） 根据为该轮设计的钻孔图案（14）钻一个圆。 为了钻出每个单个孔（21），钻孔单元（4）被转动到旋转角（F）中，该旋转角（F）在钻孔中执行特定孔（21）的位置（21'）和方向确定 图案（14）专为特定的一轮设计。 用于钻孔（21）的钻孔单元（4）的旋转角（F）基于与钻孔相关的钻孔单元（4）的旋转角度（F）来确定， 一个或多个先前钻孔（21）。

公开(公告)号：WO2009150294A1

公开(公告)日：2009-12-17

申请号：PCT/FI2009/050468

申请日：2009-06-03

Applicant: SANDVIK MINING AND CONSTRUCTION OY ,  PUURA, Jussi ,  SAARELA, Markus ,  MUONA, Jouko ,  SÄLENIEMI, Tommi ,  HAUTALA, Tatu ,  OSARA, Jukka ,  KOIVUNEN, Pertti ,  LAINE, Pekka

Inventor： PUURA, Jussi ,  SAARELA, Markus ,  MUONA, Jouko ,  SÄLENIEMI, Tommi ,  HAUTALA, Tatu ,  OSARA, Jukka ,  KOIVUNEN, Pertti ,  LAINE, Pekka

IPC: E21B7/02 ,  E21B44/00 ,  E21D9/00

CPC classification number: E21B7/025 ,  E21B7/022

Abstract: The invention relates to a method and equipment for displaying holes to be drilled when drilling holes into rock with a rock-drilling rig (1) having control equipment and a display belonging thereto and measuring means for defining the direction and position of a drill rod, by using a pre-designed drilling plan defined in a three-dimensional coordinate system, in which a starting point (19a to 21 a) and end point (19b to 21 b) is defined for each hole to be drilled. In the invention, a base plane (18) running through the end point (19b to 21 b) of the hole and parallel to the projection plane is defined for each hole (19 to 21), and a projection of the intersection of a hole or its extension created when drilling in accordance with the current location of the drill rod and the defined base plane is displayed with a graphical location symbol on the projection plane.

Abstract translation: 本发明涉及一种用于在用具有控制设备和属于其的显示器的钻石钻机（1）向钻岩孔显示要钻孔的方法和设备，以及用于限定钻杆的方向和位置的测量装置， 通过使用在三维坐标系中定义的预先设计的钻孔平面，其中为每个要钻孔而定义起点（19a至21a）和终点（19b至21b）。 在本发明中，对于每个孔（19〜21），对贯通孔的端点（19b〜21b）平行于突出面的基面（18）进行了定义， 或根据钻杆的当前位置进行钻孔时产生的延伸，并且在投影平面上以图形位置符号显示限定的基面。